Robotic Hand Grasping: a review focused on multiple objects manipulation

Abstract

Abstract Research on robotic grasping and hand design has focused mainly on grasping one object at time, but many applications require to manipulate multiple objects at time. This review describes fundamental aspects of robotic hands design and grasping task implementation, and it is focused on grasping of multiple objects and some of their mathematical models. These topics can be clustered in a concept named Robotic Hand Grasping (RHG). Firstly, a general description of RHG is presented. Secondly, the state of the art of RHG applied to multiple objects is described. Finally, some important mathematical models, which include contact models, are presented. It is important to mention the relevance of hand pushing and the application of Active Force Closure when the grasping is applied to multiple objects.